edits in camera
EmaMaker
parent
dddbbc1810
commit
b891d8c803
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@ -2,8 +2,10 @@
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#include "position/systems.h"
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#define CAMERA_CENTER_X 10
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#define CAMERA_CENTER_Y -13
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#define CAMERA_CENTER_X 0
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#define CAMERA_CENTER_Y 0
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#define CAMERA_GOAL_X 0
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#define CAMERA_GOAL_Y -13
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#define CAMERA_CENTER_Y_ABS_SUM 72
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//Actually it's ± MAX_VAL
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#define MAX_X 25
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@ -17,6 +17,7 @@ class DataSourceCameraConic : public DataSource{
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DataSourceCameraConic(HardwareSerial* ser, int baud);
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void test() override;
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void readSensor() override;
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void computeCoordsAngles();
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// int getValueAtk(bool);
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// int getValueDef(bool);
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@ -23,6 +23,8 @@ void loop() {
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goalie->play(role==1);
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keeper->play(role==0);
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camera->test();
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// Last thing to do: movement and update status vector
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drive->drivePrepared();
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updateStatusVector();
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@ -45,14 +45,35 @@ void DataSourceCameraConic ::readSensor() {
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true_yb = yb;
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true_xy = xy;
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true_yy = yy;
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}
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end = true;
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start = false;
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} else{
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if (start == true)
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{
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if (count == 0)
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xb = value;
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else if (count == 1)
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yb = value;
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else if (count == 2)
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xy = value;
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else if (count == 3)
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yy = value;
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count++;
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}
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}
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}
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}
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void DataSourceCameraConic ::computeCoordsAngles() {
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//Where are the goals relative to the robot?
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//Remap from [0,100] to [-50, +50] to correctly compute angles and distances and calculate them, getting the original coords calculated by the camera
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true_xb = 50 - true_xb;
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true_yb = true_yb - 50;
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true_xy = 50 - true_xy;
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true_yy = true_yy - 50;
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//Remap from [0,100] to [-50, +50] to correctly compute angles and distances and calculate them
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yAngle = 90 - (atan2(true_yy, true_xy) * 180 / 3.14);
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bAngle = 90 - (atan2(true_yb, true_xb) * 180 / 3.14);
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//Now cast angles to [0, 359] domain angle flip them
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@ -60,23 +81,25 @@ void DataSourceCameraConic ::readSensor() {
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bAngle = (bAngle + 360) % 360;
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yDist = sqrt((true_yy) * (true_yy) + (true_xy) * (true_xy));
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bDist = sqrt((true_yb) * (true_yb) + (true_xb) * (true_xb));
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// int angleFix = CURRENT_DATA_READ.IMUAngle > 180 ? CURRENT_DATA_READ.IMUAngle - 360 : CURRENT_DATA_READ.IMUAngle;
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// //Fixes with IMU
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// yAngleFix = ((int)((yAngle + angleFix * 0.8)) + 360) % 360;
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// bAngleFix = ((int)((bAngle + angleFix * 0.8)) + 360) % 360;
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//Rotate the point on the cartesian plane to compensate the robot tilt
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// float angleFix = CURRENT_DATA_READ.IMUAngle*IMUTOC_AMULT;
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// angleFix = (angleFix * 3.14) / 180;
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// float angleFix = CURRENT_DATA_READ.IMUAngle*3.14/180;
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// true_xb_fixed = (true_xb*(cos(angleFix))) - (true_yb*(sin(angleFix)));
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// true_yb_fixed = (true_xb*(sin(angleFix))) + (true_yb*(cos(angleFix)));
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// true_xy_fixed = (true_xy*(cos(angleFix))) - (true_yy*(sin(angleFix)));
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// true_yy_fixed = (true_xy*(sin(angleFix))) + (true_yy*(cos(angleFix)));
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int angleFix = CURRENT_DATA_READ.IMUAngle > 180 ? CURRENT_DATA_READ.IMUAngle - 360 : CURRENT_DATA_READ.IMUAngle;
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//Fixes with IMU
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yAngleFix = ((int)((yAngle + angleFix * 0.8)) + 360) % 360;
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bAngleFix = ((int)((bAngle + angleFix * 0.8)) + 360) % 360;
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//Rotate the points of the goals on the cartesian plane to compensate the robot tilt
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int tmp = CURRENT_DATA_READ.IMUAngle > 180 ? CURRENT_DATA_READ.IMUAngle - 360 : CURRENT_DATA_READ.IMUAngle;
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//We are considering the angle being negative if going counterclockwise and positive is going clockwise.
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//The formula used below assumes the angle being positive in counterclockwise and negative in clockwise, so the angle must be multiplied by -1
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//A little explanation of the formula used here can be found on wikipedia: https://en.wikipedia.org/wiki/Rotation_of_axes
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float angleFix = -tmp*3.14/180;
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true_xb_fixed = (true_xb*(cos(angleFix))) - (true_yb*(sin(angleFix)));
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true_yb_fixed = (true_xb*(sin(angleFix))) + (true_yb*(cos(angleFix)));
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true_xy_fixed = (true_xy*(cos(angleFix))) - (true_yy*(sin(angleFix)));
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true_yy_fixed = (true_xy*(sin(angleFix))) + (true_yy*(cos(angleFix)));
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yAngleFix = 90 - (atan2(true_yy_fixed, true_xy_fixed) * 180 / 3.14);
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bAngleFix = 90 - (atan2(true_yb_fixed, true_xb_fixed) * 180 / 3.14);
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//Important: update status vector
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CURRENT_INPUT_WRITE.cameraByte = value;
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@ -115,36 +138,8 @@ void DataSourceCameraConic ::readSensor() {
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CURRENT_DATA_WRITE.angleDefFix = CURRENT_DATA_WRITE.yAngleFix;
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CURRENT_DATA_WRITE.defSeen = CURRENT_DATA_WRITE.ySeen;
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}
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}
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end = true;
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start = false;
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}
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else{
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if (start == true)
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{
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if (count == 0)
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xb = value;
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else if (count == 1)
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yb = value;
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else if (count == 2)
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xy = value;
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else if (count == 3)
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yy = value;
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count++;
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}
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}
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}
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}
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// int DataSource<CameraConic::getValueAtk(bool fixed){
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// if(fixed) return goalOrientation == HIGH ? yAngleFix : bAngleFix;
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// else return goalOrientation == HIGH ? yAngle : bAngle;
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// }
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// int DataSourceCameraConic::getValueDef(bool fixed){
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// if(fixed) return goalOrientation == LOW ? yAngleFix : bAngleFix;
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// else return goalOrientation == LOW ? yAngle : bAngle;
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// }>
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void DataSourceCameraConic::test(){
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goalOrientation = digitalRead(SWITCH_SX); //se HIGH attacco gialla, difendo blu
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update();
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@ -84,7 +84,7 @@ while(True):
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tt_blue = [(0,999,0,2)] ## creo una lista di tuple per il blue, valore x = 999 : non trovata
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img = sensor.snapshot()
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for blob in img.find_blobs(thresholds, pixels_threshold=60, area_threshold=90, merge = True):
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for blob in img.find_blobs(thresholds, pixels_threshold=40, area_threshold=50, merge = True):
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img.draw_rectangle(blob.rect())
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img.draw_cross(blob.cx(), blob.cy())
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||||
:10F7400041F0823941F0803911F48FE005C080E04A
|
||||
:10F7500003C082E001C08AE01A828B8344C0772410
|
||||
:10F76000739482C08D81882311F48EE12CC0813086
|
||||
:10F7700011F081E028C088E926C01A82E1E0F0E0BB
|
||||
:10F7800089E08093570084918B831C8224E030E0D1
|
||||
:10F79000C8C18B81803589F48C81883039F4E2E0EE
|
||||
:10F7A000F0E089E08093570084910DC0E0E0F0E044
|
||||
:10F7B00089E080935700849106C0E3E0F0E089E09F
|
||||
:10F7C0008093570084911A82DFCF8D81836C99E0FA
|
||||
:10F7D000E1E0F0E0082E90935700E89507B600FCB2
|
||||
:10F7E000FDCF1A821B8223E030E09BC180EC8A832C
|
||||
:10F7F000CE5CDE4F188219821A821B82C253D1401E
|
||||
:10F800008EC18A8190E0A0E0B0E0582F44273327D2
|
||||
:10F8100022278B8190E0A0E0B0E0DC0199278827C7
|
||||
:10F82000282B392B4A2B5B2B8D8190E0A0E0B0E098
|
||||
:10F83000282B392B4A2B5B2B8C8190E0A0E0B0E089
|
||||
:10F84000BA2FA92F982F8827282B392B4A2B5B2BCF
|
||||
:10F85000220F331F441F551FC05EDE4F288339839C
|
||||
:10F860004A835B83C052D1401A8259C13A81C95C34
|
||||
:10F87000DE4F3883C753D140CA5CDE4F1882C6536F
|
||||
:10F88000D1408B81C82EDD24CA5CDE4F488159816E
|
||||
:10F89000C653D140C42AD52A933109F082C0CE5C28
|
||||
:10F8A000DE4F88819981AA81BB81C253D1408050AB
|
||||
:10F8B000904CA340B04030F583E0CE5CDE4FE88052
|
||||
:10F8C000F9800A811B81C253D140F70100935B008C
|
||||
:10F8D00080935700E89507B600FCFDCFCE5CDE4F65
|
||||
:10F8E000088119812A813B81C253D14000501F4FAA
|
||||
:10F8F0002F4F3F4FCE5CDE4F088319832A833B8313
|
||||
:10F90000C253D140C05EDE4F488159816A817B81FC
|
||||
:10F91000C052D140DE011B9631E08C9111962C91A2
|
||||
:10F9200011971296C75CDE4F2883C953D140C85C3B
|
||||
:10F93000DE4F1882C853D14090E0C85CDE4FE881AA
|
||||
:10F94000F981C853D1408E2B9F2B0C01FA01609393
|
||||
:10F950005B0030935700E89511244E5F5F4F6F4F67
|
||||
:10F960007F4F0EEFE02E0FEFF02ECE0CDF1CC114F8
|
||||
:10F97000D10499F685E0C05EDE4F088119812A81A5
|
||||
:10F980003B81C052D140F80120935B008093570027
|
||||
:10F99000E89507B600FCFDCF81E180935700E8951C
|
||||
:10F9A00035C0C05EDE4F88819981AA81BB81C0527B
|
||||
:10F9B000D140B695A795979587957C018601ABE0D8
|
||||
:10F9C000AA2EB12CAC0EBD1E0BC0D5016D915D01F0
|
||||
:10F9D000C7010F947FFE0894E11CF11C01501040F8
|
||||
:10F9E0000115110591F7A60160E070E0440F551F65
|
||||
:10F9F000661F771FC05EDE4FE880F9800A811B8199
|
||||
:10FA0000C052D1404E0D5F1D601F711F1A82C05E33
|
||||
:10FA1000DE4F488359836A837B83C052D1407FC0C5
|
||||
:10FA2000FA80C55CDE4FF882CB53D140C65CDE4F16
|
||||
:10FA30001882CA53D1408B81C82EDD24C65CDE4FAC
|
||||
:10FA400008811981CA53D140C02AD12A1A828981DA
|
||||
:10FA5000BE016D5F7F4F843121F59601C05EDE4FA0
|
||||
:10FA6000E880F9800A811B81C052D1400BBFF701A9
|
||||
:10FA700087919691DB018C9311969C936E5F7F4FDB
|
||||
:10FA8000D801C7010296A11DB11DC05EDE4F88835B
|
||||
:10FA90009983AA83BB83C052D14022503040F1F6F3
|
||||
:10FAA00036C0C05EDE4F288139814A815B81C052F9
|
||||
:10FAB000D1400894C108D108760100E010E0089414
|
||||
:10FAC000C11CD11C0894E11CF11C011D111DE20E8A
|
||||
:10FAD000F31E041F151F21BDBB27A52F942F832FB5
|
||||
:10FAE00082BD2F5F3F4F4F4F5F4FF89A80B5DB01CC
|
||||
:10FAF0008D93BD012E153F054007510761F7C05E8C
|
||||
:10FB0000DE4F288339834A835B83C052D1409601FC
|
||||
:10FB10002D5F3F4FFB01108204C080EC8A8322E0FE
|
||||
:10FB200030E08BE18093C6008091C00086FFFCCF5F
|
||||
:10FB30008091C00080648093C000C15DDE4FF88179
|
||||
:10FB4000CF52D140F093C6008091C00086FFFCCF19
|
||||
:10FB50008091C00080648093C000432F3093C60022
|
||||
:10FB60008091C00086FFFCCF8091C00080648093AC
|
||||
:10FB7000C000922F2093C6008091C00086FFFCCF6A
|
||||
:10FB80008091C00080648093C0008EE08093C600A6
|
||||
:10FB90008091C00086FFFCCF8091C000806480937C
|
||||
:10FBA000C00065E1C15DDE4FE880CF52D1406E25D7
|
||||
:10FBB00069276427FE01319610C090819093C6009A
|
||||
:10FBC0008091C00086FFFCCF31968091C000806498
|
||||
:10FBD0008093C0006927215030402115310569F715
|
||||
:10FBE0006093C6008091C00086FFFCCF8091C0006A
|
||||
:10FBF00080648093C00085B1805885B9772081F4F6
|
||||
:10FC0000C15DDE4F0881CF52D1400F5FC15DDE4F35
|
||||
:10FC10000883CF52D14090E0A0E0B0E00D941AF4F8
|
||||
:10FC200027982F9880E090E020ED37E0F901319798
|
||||
:10FC3000F1F7019684369105C9F700008091C00064
|
||||
:10FC40008D7F8093C00081E180935700E895EE2777
|
||||
:10FC5000FF270994FFCF90E00D941AF497FB092E2B
|
||||
:10FC600007260AD077FD04D02ED006D000201AF443
|
||||
:10FC7000709561957F4F0895F6F7909581959F4F08
|
||||
:10FC80000895A1E21A2EAA1BBB1BFD010DC0AA1FDD
|
||||
:10FC9000BB1FEE1FFF1FA217B307E407F50720F0F5
|
||||
:10FCA000A21BB30BE40BF50B661F771F881F991F70
|
||||
:10FCB0001A9469F760957095809590959B01AC01B9
|
||||
:10FCC000BD01CF010895AA1BBB1B51E107C0AA1FAC
|
||||
:10FCD000BB1FA617B70710F0A61BB70B881F991FED
|
||||
:10FCE0005A95A9F780959095BC01CD010895F99991
|
||||
:10FCF000FECF92BD81BDF89A992780B50895262F31
|
||||
:10FD0000F999FECF1FBA92BD81BD20BD0FB6F89400
|
||||
:0EFD1000FA9AF99A0FBE01960895F894FFCF63
|
||||
:040000033000E000E9
|
||||
:00000001FF
|
||||
|
|
@ -1,56 +1,64 @@
|
|||
/*
|
||||
Example Bluetooth Serial Passthrough Sketch
|
||||
by: Jim Lindblom
|
||||
SparkFun Electronics
|
||||
date: February 26, 2013
|
||||
license: Public domain
|
||||
|
||||
This example sketch converts an RN-42 bluetooth module to
|
||||
communicate at 9600 bps (from 115200), and passes any serial
|
||||
data between Serial Monitor and bluetooth module.
|
||||
*/
|
||||
/*Author: EmaMaker (emamaker.altervista.org) on 8/3/2020
|
||||
Write and read data from two bluesmirf rn-42 at the same time*/
|
||||
#include <SoftwareSerial.h>
|
||||
|
||||
int bluetoothTx = 2; // TX-O pin of bluetooth mate, Arduino D2
|
||||
int bluetoothRx = 3; // RX-I pin of bluetooth mate, Arduino D3
|
||||
|
||||
//SoftwareSerial bluetooth(bluetoothTx, bluetoothRx);
|
||||
<<<<<<< HEAD
|
||||
=======
|
||||
#define bluetooth1 Serial3
|
||||
#define bluetooth2 Serial2
|
||||
|
||||
#define bluetooth Serial3
|
||||
>>>>>>> 5c0171dd181357ae6f20ec98cb5c060f067c30fc
|
||||
HardwareSerial* current= nullptr;
|
||||
|
||||
#define bluetooth Serial3
|
||||
char a = ' ';
|
||||
|
||||
void setup() {
|
||||
Serial.begin(9600); // Begin the serial monitor at 9600bps
|
||||
<<<<<<< HEAD
|
||||
|
||||
bluetooth.begin(9600); // Start bluetooth serial at 9600
|
||||
=======
|
||||
bluetooth.begin(9600);
|
||||
>>>>>>> 5c0171dd181357ae6f20ec98cb5c060f067c30fc
|
||||
bluetooth1.begin(19200);
|
||||
bluetooth2.begin(19200);
|
||||
}
|
||||
|
||||
void read() {
|
||||
while (bluetooth.available()) {
|
||||
void read(HardwareSerial* bluetooth) {
|
||||
while (bluetooth->available()) {
|
||||
if(bluetooth == &bluetooth1){
|
||||
Serial.print("Bluetooth1 Read: ");
|
||||
}else if(bluetooth == &bluetooth2){
|
||||
Serial.print("Bluetooth2 Read: ");
|
||||
}
|
||||
// Send any characters the bluetooth prints to the serial monitor
|
||||
Serial.print((char)bluetooth.read());
|
||||
Serial.println((char)bluetooth->read());
|
||||
delay(50);
|
||||
}
|
||||
}
|
||||
|
||||
void write() {
|
||||
while (Serial.available()) {
|
||||
void write(HardwareSerial* bluetooth) {
|
||||
if(a != ' ') {
|
||||
if(bluetooth == &bluetooth1){
|
||||
Serial.print("Bluetooth1 Write: ");
|
||||
}else if(bluetooth == &bluetooth2){
|
||||
Serial.print("Bluetooth2 Write: ");
|
||||
}
|
||||
// Send any characters the Serial monitor prints to the bluetooth
|
||||
bluetooth.print((char)Serial.read());
|
||||
delay(50);
|
||||
Serial.println(a);
|
||||
bluetooth->print(a);
|
||||
a = ' ';
|
||||
}
|
||||
// and loop forever and ever!
|
||||
}
|
||||
|
||||
bool b = false;
|
||||
void loop() {
|
||||
read();
|
||||
write();
|
||||
b = !b;
|
||||
|
||||
while(Serial.available() > 0){
|
||||
a = (char)Serial.read();
|
||||
if(a == '-') current = &bluetooth1;
|
||||
else if(a == '_') current = &bluetooth2;
|
||||
if(a == '-' || a == '_') a = ' ';
|
||||
}
|
||||
|
||||
if(current != nullptr) write(current);
|
||||
|
||||
read(&bluetooth1);
|
||||
read(&bluetooth2);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,68 +1,52 @@
|
|||
/*
|
||||
Example Bluetooth Serial Passthrough Sketch
|
||||
by: Jim Lindblom
|
||||
SparkFun Electronics
|
||||
date: February 26, 2013
|
||||
license: Public domain
|
||||
/*Use this script to reprogram the bluesmirf-rn42 using an arduino microcontroller.
|
||||
Bluesmirf defaults the uart speed to 115200 after factory reset, so a SoftwareSerial may not be ideal for a long use, but it can be used to enter command mode and temp-change the uart speed to 9600 using the SU,9600 command
|
||||
First of all it may be useful to reset the BT module to its factory settings, a useful video on how to do it can be found here: https://www.youtube.com/watch?v=8gZNF3bFpzI
|
||||
Upload a Blink program to the arduino, when the pin is high give power to the module, an instant short-flashing on the status led followed by a couple of seconds of the led being off means that the module has been reset
|
||||
Now you can connect with this script and setup the BT module:
|
||||
Enter command mode sending $$ no line ending in serial
|
||||
Give the following commands to setup the bluesmirf as intended for our use
|
||||
Read the manual for further information about the commands used
|
||||
SM,2 Trigger mode
|
||||
SA,0 No authentication needed
|
||||
SU,19200 Baud rate to 19200
|
||||
SR, address The address the module has to connect to
|
||||
ST, number Amount of time (in seconds) of inactivity after which the connection is terminated (1 is too low, 3 is used during the tests, 2 should to the thing)
|
||||
|
||||
This example sketch converts an RN-42 bluetooth module to
|
||||
communicate at 9600 bps (from 115200), and passes any serial
|
||||
data between Serial Monitor and bluetooth module.
|
||||
When trying to connect one bluetooth module with another one, please make sure that the two are powered off with at least 300mS of difference: if they are trying to connect with each other at the same moment, the connection will fail
|
||||
*/
|
||||
|
||||
#include <SoftwareSerial.h>
|
||||
|
||||
int bluetoothTx = 2; // TX-O pin of bluetooth mate, Arduino D2
|
||||
int bluetoothRx = 3; // RX-I pin of bluetooth mate, Arduino D3
|
||||
|
||||
SoftwareSerial bluetooth(bluetoothTx, bluetoothRx);
|
||||
//SoftwareSerial bluetooth(bluetoothTx, bluetoothRx);
|
||||
#define bluetooth Serial3
|
||||
|
||||
void setup()
|
||||
{
|
||||
void setup() {
|
||||
Serial.begin(9600); // Begin the serial monitor at 9600bps
|
||||
|
||||
/*bluetooth.begin(115200); // The Bluetooth Mate defaults to 115200bps
|
||||
bluetooth.print("$"); // Print three times individually
|
||||
bluetooth.print("$");
|
||||
bluetooth.print("$"); // Enter command mode
|
||||
delay(100); // Short delay, wait for the Mate to send back CMD
|
||||
bluetooth.println("U,9600,N"); // Temporarily Change the baudrate to 9600, no parity
|
||||
//115200 can be too fast at times for NewSoftSerial to relay the data reliably*/
|
||||
|
||||
delay(1000);
|
||||
|
||||
bluetooth.begin(9600); // Start bluetooth serial at 9600
|
||||
bluetooth.print("$"); // Print three times individually
|
||||
bluetooth.print("$");
|
||||
bluetooth.print("$");
|
||||
read();
|
||||
delay(1000);
|
||||
bluetooth.println("SA,0");
|
||||
read();
|
||||
bluetooth.println("SM,6");
|
||||
read();
|
||||
delay(1000);
|
||||
bluetooth.println("C");
|
||||
read();
|
||||
bluetooth.begin(19200);
|
||||
}
|
||||
|
||||
void read() {
|
||||
while (bluetooth.available()) {
|
||||
// Send any characters the bluetooth prints to the serial monitor
|
||||
// Send any characters the bluetooth pri$$$nts to the serial monitor
|
||||
Serial.print((char)bluetooth.read());
|
||||
delay(50);
|
||||
}
|
||||
}
|
||||
|
||||
void write() {
|
||||
while (Serial.available()) {
|
||||
// Send any characters the Serial monitor prints to the bluetooth
|
||||
bluetooth.print((char)Serial.read());
|
||||
delay(50);
|
||||
char a = (char)Serial.read();
|
||||
bluetooth.print(a);
|
||||
Serial.print(a);
|
||||
}
|
||||
// and loop forever and ever!
|
||||
}
|
||||
|
||||
void loop() {
|
||||
bluetooth.write(42);
|
||||
delay(500);
|
||||
read();
|
||||
write();
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue